JP6747019B2 - Vehicle display method and vehicle display device - Google Patents

Description

The present invention relates to a vehicle display method and a vehicle display device.

2. Description of the Related Art As a conventional driving support device, a device that displays a simulated vehicle that moves in a direction in which the danger is avoided on the display means when it is determined that the danger exists in the own vehicle based on the surrounding information of the own vehicle is known ( See Patent Document 1.). According to the driving support device described in Patent Document 1, the occupant confirms in advance the direction in which the vehicle should move in order to avoid danger by confirming the moving direction of the simulated vehicle displayed on the display means. be able to.

In a vehicle equipped with a conventional driving support device, when a contact with an obstacle such as another vehicle is predicted, automatic control such as sudden braking or turning to avoid the contact is added to There may be sudden movements. When a sudden motion occurs, the occupant cannot afford to check the surroundings of the vehicle, and it may be difficult to understand why the sudden motion has occurred, that is, the cause of the sudden motion. Even if a direction for avoiding contact is displayed as in the driving support device described in Patent Document 1, it is difficult to gaze when a sudden motion occurs, and as far as the display is seen, the cause of the sudden motion is not detected. There is a problem that the occupant feels anxiety as a result of being unable to grasp.

JP, 2008-129718, A

In view of the above problems, the present invention makes it possible for an occupant to easily grasp the cause of the sudden movement when the sudden movement occurs in the host vehicle by automatic control, and provides a sense of security for the occupant. A method and a display device for a vehicle are provided.

According to one aspect of the present invention, it is determined whether or not the automatic control of the own vehicle is executed according to the surrounding situation of the own vehicle, and if it is determined that the automatic control is executed, An image showing a surrounding situation including a cause of automatic control is generated based on the situation. Further, there is provided a vehicle display method and a vehicle display device characterized by displaying an image including a cause of automatic control on the image display means.

ADVANTAGE OF THE INVENTION According to this invention, when it determines with automatic control being performed, a passenger|crew can be made to easily understand the generation|occurrence|production cause of automatic control, and the display method for vehicles which gives a passenger a sense of security, and. A display device for a vehicle can be provided.

It is a block diagram which shows an example of the display device for vehicles which concerns on the 1st Embodiment of this invention. It is a top view which shows the example of arrangement|positioning of the camera of the own vehicle which concerns on the 1st Embodiment of this invention. It is a schematic diagram showing an example of arrangement of an image display means concerning a 1st embodiment of the present invention. FIG. 4A to FIG. 4C are top views sequentially showing the situation before, during, and after the occurrence of the sudden motion of the host vehicle according to the first embodiment of the present invention. FIG. 5A and FIG. 5B are schematic diagrams respectively showing images that are generated by the image generation unit according to the first embodiment of the present invention and show the left rear and right rear situations of the host vehicle. .. FIG. 6A to FIG. 6C are schematic diagrams each showing an example of an image showing the control direction of the own vehicle, which is generated by the image generating unit according to the first embodiment of the present invention. FIG. 3 is a schematic diagram showing a display example of an image by the image display means according to the first embodiment of the present invention. FIG. 8A and FIG. 8B are top views sequentially showing the situation before and during the occurrence of the sudden motion of the host vehicle according to the first embodiment of the present invention. FIG. 9A and FIG. 9B are schematic diagrams respectively showing images generated by the image generation unit according to the first embodiment of the present invention and showing the situation in front of the host vehicle. It is a top view which shows the example of arrangement|positioning of the camera of the own vehicle which concerns on the 1st Embodiment of this invention. It is a schematic diagram showing a bird's-eye view image of the own vehicle generated by the image generation unit according to the first embodiment of the present invention. It is a flow chart for explaining an example of a display method for vehicles concerning a 1st embodiment of the present invention. 6 is a flowchart for explaining another example of the vehicle display method according to the first embodiment of the present invention. It is a block diagram which shows an example of the display device for vehicles which concerns on the 2nd Embodiment of this invention. It is a schematic diagram showing an example of a display of an image by image display means concerning other embodiments of the present invention. It is a schematic diagram showing an example of a display of an image by image display means concerning other embodiments of the present invention.

In the following, first and second embodiments of the present invention will be described with reference to the drawings. In the following description of the drawings, the same or similar reference numerals are attached to the same or similar parts. However, it should be noted that the drawings are schematic and the relationship between the thickness and the plane dimension, the thickness ratio, and the like are different from the actual ones. Further, it is needless to say that the drawings include portions in which dimensional relationships and ratios are different from each other. Further, the embodiments described below exemplify an apparatus and a method for embodying the technical idea of the present invention, and the technical idea of the present invention is the material, shape, structure, and arrangement of components. Etc. are not limited to the following. The technical idea of the present invention can be variously modified within the technical scope defined by the claims described in the claims.

(First embodiment)
The vehicular display device according to the first embodiment of the present invention can be mounted on a host vehicle, and includes a control device 1, a surrounding condition detection means 10, and an image display means 7, as shown in FIG. .. The control device 1 is connected to a steering means 6a, an acceleration means 6b, and a braking means 6c for controlling the host vehicle. For example, a steering wheel can be used as the steering means 6a, an accelerator pedal can be used as the acceleration means 6b, and a brake device can be used as the braking means 6c. The surrounding condition detecting unit 10 includes an obstacle detecting unit 2, a lane detecting unit 3, and a plurality (two) of image capturing units 4a and 4b so as to detect the surrounding condition of the own vehicle.

As the obstacle detecting means 2, for example, a laser radar, a millimeter wave radar, or a sensor using a camera can be used. The number and arrangement position of the obstacle detection means 2 are not particularly limited, and for example, a plurality of obstacle detection means 2 may be installed in front of, in the side of, or behind the own vehicle. The obstacle detecting means 2 detects obstacles such as other vehicles, electric poles, and walls existing around the own vehicle, and outputs the relative position, distance, relative speed, etc. between the own vehicle and the obstacle to the control device 1. ..

As the lane detecting means 3, for example, a sensor using a camera can be used. The number and arrangement position of the lane detection means 3 are not particularly limited, and a plurality of lane detection means 3 may be installed in front of or behind the vehicle. The lane detection means 3 detects the traveling lane and the adjacent lane of the own vehicle that are separated by the lane boundary by extracting the lane boundary such as a white line in the image captured by the camera, and detects the traveling lane and the adjacent lane. The relative position and distance of the lane are output to the control device 1.

A CCD camera or the like can be used as the image pickup means 4a and 4b. The image capturing means 4a and 4b sequentially capture the surrounding conditions of the vehicle. The imaging unit 4a is installed on the left side surface of the host vehicle 101 such that the left rear of the host vehicle 101 is the imaging range R1, as shown in FIG. 2, for example. The imaging unit 4b is installed on the right side surface of the host vehicle 101 so that the right rear of the host vehicle 101 is the imaging range R2. The number and arrangement position of the image pickup means 4a and 4b and the image pickup ranges R1 and R2 are not limited to this. A liquid crystal display or the like can be used as the image display means 7 shown in FIG. As shown in FIG. 3, the image display means 7 is installed at a position such as an instrumental panel in a vehicle compartment that is easily visible to an occupant.

The control device 1 shown in FIG. 1 can be configured by an electronic control unit (ECU) including, for example, a central processing unit (CPU) and a storage device. As the storage device, ROM, RAM or the like can be used. The control device 1 includes an in-lane position acquisition unit 11, a sudden motion necessity determination unit 12, a control information calculation unit 13, a vehicle control unit 14, a rapid motion identification unit 15, an image generation unit 16, and a display control unit 17. The in-lane position acquisition unit 11, the sudden motion necessity determination unit 12, the control information calculation unit 13, the vehicle control unit 14, the sudden motion identification unit 15, the image generation unit 16, and the display control unit 17 function as the control device 1. It may be provided separately, or may be provided separately as separate housings.

The in-lane position acquisition unit 11 determines which lane the obstacle is in based on the relative position of the obstacle detected by the obstacle detection unit 2 and the relative position of the lane detected by the lane detection unit 3. Is specified and the distance between the host vehicle 101 and the obstacle along the lane, the relative speed, and the like are acquired.

The sudden movement necessity determination unit 12 determines the risk of contact between the host vehicle 101 and the obstacle based on the distance and the relative speed between the host vehicle 101 and the obstacle along the lane acquired by the in-lane position acquisition unit 11. To calculate. The contact risk is an index indicating the degree of possibility of contact between the host vehicle 101 and the obstacle, and the higher the contact risk, the higher the possibility of contact between the host vehicle 101 and the obstacle. For example, the contact risk is calculated to be higher as the distance between the host vehicle 101 and the obstacle is shorter, and the contact risk is calculated to be higher as the relative speed between the host vehicle 101 and the obstacle is higher. Further, the higher the speed of the host vehicle 101, the higher the contact risk may be calculated.

The contact risk can be calculated by using at least the distance between the host vehicle 101 and the obstacle. However, in addition to the distance between the host vehicle 101 and the obstacle, the relative speed between the host vehicle 101 and the obstacle is used. By doing so, the contact risk can be calculated in more detail. As the distance and relative speed between the host vehicle 101 and the obstacle, the distance and relative speed in the direction along the lane (traveling direction) acquired by the in-lane position acquisition unit 11 may be used. You may use the detected linear distance and relative speed of the own vehicle 101 and an obstacle.

Here, an example of a method of calculating the contact risk by the sudden motion necessity determination unit 12 will be described. For example, the contact risk can be calculated using the collision margin time (TTC) and the inter-vehicle time (THW). The collision allowance time t _c is an index for predicting the time until the host vehicle 101 collides with the preceding other vehicle on the assumption that the current relative speed is maintained, and the relative time between the host vehicle 101 and the other vehicle. The velocity is v _r and the distance is x _r , which is obtained by the following equation (1).

t _c =−x _r /v _r (1)

Also, following time t _h is an index representing the time to reach current preceding vehicle position at the current vehicle speed, the vehicle speed v _f, the distance between the vehicle 101 and another vehicle as x _r, It is calculated by the following equation (2).

t _h =−x _r /v _f (2)

Using collision tolerable time t _c and inter-vehicle time t _h calculated by the formula (1) and (2), the contact risk RP can be set as the following equation (3).

RP = 1/2 (α / t c + β / t h) ... (3)

Here, each of α and β is an arbitrary coefficient and can be appropriately set.

The sudden motion necessity determination unit 12 further determines whether the calculated collision risk is equal to or more than a predetermined threshold value, and thus the host vehicle 101 determines whether the sudden motion is necessary according to the obstacle. That is, the sudden movement necessity determination unit 12 determines that the sudden movement of the host vehicle 101 for avoiding an obstacle is necessary when the contact risk is equal to or more than a predetermined threshold value, and when the contact risk is less than the predetermined threshold value. It is determined that the sudden movement of the vehicle 101 for avoiding the obstacle is unnecessary. The predetermined threshold value can be set as appropriate, and may be stored in advance in the storage device of the control device 1 or the like. The sudden motion necessity determination unit 12 predicts future behavior of the host vehicle such as vehicle speed, yaw rate, jerk, and turning radius, and when any of them exceeds a predetermined value, a sudden motion is performed according to an obstacle. May be identified as needed.

When the sudden movement necessity determination unit 12 determines that the contact risk is equal to or more than a predetermined threshold and the sudden movement of the host vehicle 101 is necessary for the obstacle, the control information calculation unit 13 causes an obstacle with the host vehicle 101. Control information including a control direction and a control amount of the vehicle 101 for automatic control so as to avoid contact with an obstacle is calculated based on a relative position, a distance, a relative speed, and the like with respect to the object.

The control direction is, for example, a right turning direction (right direction) and a left turning direction (left direction) controlled by the steering means 6a, a rapid acceleration direction (forward) controlled by the acceleration means 6b, and a rapid deceleration controlled by the braking means 6c. Including direction (backward). Furthermore, it includes right rear with a combination of right turn and sudden deceleration, left rear with a combination of left turn and rapid deceleration direction, right front with a combination of right turn and sudden acceleration direction, left front with a left turn and sudden acceleration direction. ..

The control amount corresponds to the control direction and the control target for controlling in that control direction, and includes, for example, the steering torque amount of the steering means 6a for a sharp turn, the braking amount of the braking means 6c for a sudden deceleration, and the steep torque. The amount of depression of the acceleration means 6b for acceleration or a combination thereof is included. The control direction and control amount can be appropriately selected according to the relative position, distance, relative speed, and the like between the host vehicle 101 and the obstacle.

The vehicle control unit 14 automatically controls the steering means 6a, the braking means 6c, and the acceleration means 6b, which are control targets, using the control information including the control direction and the control amount calculated by the control information calculation unit 13. As a result, the host vehicle 101 is controlled so as to avoid contact with the obstacle.

The sudden movement identifying unit (automatic control determination unit) 15 identifies the occurrence of the sudden movement of the host vehicle 101 due to the automatic control by the system, based on the control amount calculated by the control information calculating unit 13. When the control amount calculated by the control information calculation unit 13 is equal to or larger than a predetermined threshold value, the sudden movement identification unit 15 causes the vehicle to be automatically controlled by the vehicle control unit 14 at the present time or timing before and after the predetermined threshold value. It is determined that a sudden motion occurs in 101. On the other hand, the sudden movement identifying unit 15 determines that the sudden movement does not occur when the control amount calculated by the control information calculating unit 13 is less than the predetermined threshold value. The predetermined threshold value can be appropriately set according to the type of control amount such as the steering torque amount and the braking amount, and may be stored in advance in the storage device of the control device 1 or the like.

The image generation unit 16 generates an image including a cause of the automatic control when the automatic control is executed in the host vehicle 101. Specifically, when the sudden motion identifying unit 15 identifies that a sudden motion occurs, based on the surrounding condition of the vehicle 101 detected by the surrounding condition detecting unit 10, the surrounding condition including the cause of the sudden motion is determined. Generate the image shown. In the first embodiment of the present invention, the cause of the sudden movement is an obstacle whose contact risk is determined to be equal to or greater than a predetermined threshold by the sudden movement necessity determination unit 12, and is known. The image generation unit 16 acquires, for example, a captured image by the image capturing units 4a and 4b when the obstacle causing the sudden motion enters the image capturing ranges R1 and R2 of the image capturing units 4a and 4b.

For example, as shown in FIG. 4A, it is assumed that the other vehicle 102 preceding the own vehicle 101 suddenly stops while the own vehicle 101 is traveling. The obstacle detection means 2 detects the distance between the own vehicle 101 and the other vehicle 102, the relative position, the relative speed, and the like. The lane detection means 3 detects the lane boundary lines L1 and L2 to detect the lane line L0 divided by the lane boundary lines L1 and L2. The in-lane position acquisition unit 11 acquires the relative position of the other vehicle 102 in the lane L0.

The sudden movement necessity determination unit 12 calculates the risk of contact with the other vehicle 102 using the distance between the own vehicle 101 and the other vehicle 102, the relative speed, and the like detected by the obstacle detection unit 2. The sudden movement necessity determination unit 12 further determines that the sudden movement of the host vehicle 101 for avoiding contact with an obstacle is necessary by determining that the calculated contact risk is equal to or more than a predetermined threshold. The control information calculation unit 13 calculates a control direction for avoiding contact with the other vehicle 102 as a right turn (right direction), and calculates a steering torque amount as a control amount. The vehicle control unit 14 automatically steers the steering means 6a by using the control direction and the control amount calculated by the control information calculation unit 13, and makes a right turn as shown in FIG. Behavior occurs. After the occurrence of the sudden operation, as shown in FIG. 4C, when the vehicle 101 overtakes the other vehicle 102, the other vehicle 102 enters the image capturing range R1 of the image capturing unit 4a. The image generation unit 16 acquires images captured by the imaging means 4a and 4b at this timing.

The image generation unit 16 generates an image (surrounding condition image) indicating the surrounding condition including the cause of the sudden motion by using the captured images by the imaging means 4a and 4b at the timing shown in FIG. FIG. 5A is an image I1 imaged by the imaging unit 4a at the timing shown in FIG. 4C. The image I1 displays the situation on the left rear side of the vehicle 101, similarly to the mapping of the left side mirror. In the image I1, the left side surface of the host vehicle 101, the lane boundary line L1 that separates the traveling lane L0 of the host vehicle 101, and an obstacle located behind the host vehicle 101 that causes the sudden movement are displayed. The vehicle 102 is reflected.

As shown in FIG. 5A, the image generation unit 16 further emphasizes the other vehicle 102 by superimposing a frame-shaped mark M0 surrounding the other vehicle 102, which is the obstacle causing the sudden motion. It may be displayed. The method of highlighting the other vehicle 102 is not limited to this, and for example, an arrow indicating the other vehicle 102 may be displayed. By highlighting the other vehicle 102, the occupant can easily specify that the other vehicle 102 is the obstacle that causes the sudden motion.

On the other hand, FIG. 5B is the image I2 imaged by the imaging unit 4b at the timing shown in FIG. 4C. The image I2 displays the situation on the right rear side of the vehicle 101, similarly to the mapping of the right side mirror. In the image I2, the right side surface of the host vehicle 101 and the lane boundary line L2 that separates the traveling lane L0 of the host vehicle 101 are shown. Although the other vehicle 102, which is the obstacle causing the sudden motion, is not shown in the image I2, the image I2 is taken at the same timing as the image I1 and shows a situation in a different direction from the image I1. By displaying, it becomes easier for the occupant to grasp the surroundings of the host vehicle 101 during a sudden operation.

It should be noted that the images sequentially captured by the image capturing units 4a and 4b are sequentially recorded in the storage device of the control device 1 and the image generating unit 16 selects the image capturing units 4a and 4b from the plurality of recorded captured images. The captured image at the time when the obstacle enters the imaging ranges R1 and R2 may be extracted. For example, the image pickup means 4a and 4b are provided so as to image the front of the host vehicle 101, and after the sudden movement identifying section 15 has identified the sudden movement, real-time imaging of the obstacle causing the sudden movement is performed. Even when it is difficult to perform, the image generation unit 16 can generate an image showing the surrounding situation including the cause of the sudden movement by using the image captured before the identification of the sudden movement.

The image generator 16 may further generate an image displaying a mark indicating the control direction of the host vehicle 101 when a sudden motion occurs. The mark indicates, for example, rightward in the case of a right turn, leftward in the case of a left turn, backward or downward in the case of sudden deceleration, and forward or upward in the case of sudden acceleration. The mark indicating the control direction of the host vehicle 101 when the sudden motion occurs may be superimposed on the image including the surrounding condition including the obstacle that causes the sudden motion.

The image generation unit 16 displays, as an image displaying a mark indicating the control direction of the host vehicle 101 when a sudden motion occurs, for example, as shown in FIG. An image (control direction image) I3 displaying the own vehicle icon) M1 and the second simulated vehicle (own vehicle icon) M2 is generated. In FIG. 6A, the second simulated vehicle M2 is schematically shown by a broken line, but the second simulated vehicle M2 may be drawn by a solid line and if the color is different from that of the first simulated vehicle M1. It is sufficient if the mode is such that it can be distinguished from the first simulated vehicle M1 by making it possible. Then, the image generation unit 16 shifts the second simulated vehicle M2 in the direction corresponding to the control direction so as to turn on or flash the second simulated vehicle M2 with reference to the position of the first simulated vehicle M1, thereby displaying the second simulated vehicle M2. The control direction when a sudden motion occurs in the direction in which the simulated vehicle M2 is displaced is shown. Further, by moving the second simulated vehicle M2 from the position of the first simulated vehicle M1 in a direction corresponding to the control direction, the control direction at the time of occurrence of a sudden motion may be indicated in the moving direction.

For example, as shown in FIG. 6A, in the case of turning right, the second simulated vehicle M2 is moved to the right with respect to the first simulated vehicle M1. In the case of turning left, the second simulated vehicle M2 is moved leftward with respect to the first simulated vehicle M1. In the case of sudden deceleration (backward), the second simulated vehicle M2 is moved backward (downward in the image) with respect to the first simulated vehicle M1. In the case of sudden acceleration, the second simulated vehicle M2 is moved forward (upward in the image) with respect to the first simulated vehicle M1. In the case of right turn and sudden deceleration, the second simulated vehicle M2 may be moved to the right rear, or may be moved to the right direction with priority given to the right turn. In the case of turning left and suddenly decelerating, the second simulated vehicle M2 may be moved to the left rear, or may be moved leftward with priority given to turning left. In the case of right turn and sudden acceleration, the second simulated vehicle M2 may be moved to the right front side, or may be moved to the right direction with priority given to the right turn. In the case of turning left and suddenly accelerating, the second simulated vehicle M2 may be moved to the front left, or may be moved leftward with priority given to turning left.

When the second simulated vehicle M2 moves, the second simulated vehicle M2 may be displayed so as to undulate in the moving direction. For example, a series of movements in which the second simulated vehicle M2 appears at the position of the first simulated vehicle M1, disappears after moving, and then appears again at the position of the first simulated vehicle M1 are periodically repeated. Good. Further, the movement amount D1 of the second simulated vehicle M2 and the cycle of the series of movements described above may be changed according to the control amount calculated by the control information calculation unit 13. For example, as the control amount increases, the movement amount D1 of the second simulated vehicle M2 may be increased and the frequency of the series of movements may be increased.

In addition, as shown in FIG. 6B, the image generation unit 16 uses the orientation of the first simulated vehicle M1 as a reference in accordance with the control direction calculated by the control information calculation unit 13 to generate the second simulated vehicle. You may incline the direction of M2. For example, in the case of a right turn, as shown in FIG. 6B, the direction of the second simulated vehicle M2 is tilted rightward by a predetermined angle θ1 and the second simulated vehicle M2 is rotated clockwise. .. In the case of turning left, the direction of the second simulated vehicle M2 is tilted to the left, and the second simulated vehicle M2 is rotated counterclockwise. Further, the predetermined angle θ1 for inclining the direction of the second simulated vehicle M2 may be changed according to the steering torque amount calculated by the control information calculation unit 13. For example, the larger the steering torque amount, the larger the predetermined angle θ1 for inclining the direction of the second simulated vehicle M2 may be.

Further, the image generation unit 16 does not move the second simulated vehicle M2, but instead of moving the second simulated vehicle M2, an arrow indicating a direction corresponding to the control direction with the position of the first simulated vehicle M1 as a starting point, as shown in FIG. 6C. M3 may be displayed. In the case of turning right, as shown in FIG. 6C, the arrow M3 points to the right of the first simulated vehicle M1. In the case of a left turn, it points to the left of the first simulated vehicle M1. In the case of sudden acceleration, it points to the front of the first simulated vehicle M1, and in the case of sudden deceleration, it points to the rear of the first simulated vehicle M1. Further, the length D2 and the shape of the arrow M3 may be changed according to the control amount calculated by the control information calculation unit 13. For example, the greater the control amount, the longer the length D2 of the arrow M3 and the larger the size of the arrow M3. Note that the marks indicating the control direction of the host vehicle 101 when a sudden motion occurs are not limited to these, and for example, “left” indicating that the control direction is left or that the control direction is right. A mark including character information such as “right” may be displayed.

As shown in FIG. 7, the display control unit 17 continues to display the images I1, I2, I3 generated by the image generation unit 16 for a predetermined time (for example, 5 seconds) after the sudden movement occurs, as shown in FIG. To be displayed. The display time of the images I1, I2, I3 can be set as appropriate, and may be stored in advance in the storage device of the control device 1 or the like. If the images I1, I2, I3 have already been generated by the image generator 16 before or at the time of the sudden motion, the display controller 17 causes the image generator 16 to generate the images I1, I2, I2. The images I1, I2, and I3 may be continuously displayed from the time when I3 is generated, that is, before the occurrence of the sudden motion or when the sudden motion occurs, to after the occurrence of the sudden motion. That is, in order for the display control unit 17 to display the images I1, I2, I3 after the occurrence of the sudden motion, in addition to starting the display of the images I1, I2, I3 after the occurrence of the sudden motion, before the occurrence of the sudden motion. Alternatively, it includes that the display of the images I1, I2, I3 is started from the time of occurrence of the sudden motion and the display is continued until after the occurrence of the sudden motion.

The display control unit 17 may change the display time of the images I1, I2, I3 according to the control amount calculated by the control information calculation unit 13. For example, the display time of the images I1, I2, I3 may be set longer as the control amount is larger. When the control amount is large, it is considered that the occupant often wants to confirm the cause of the sudden motion. Therefore, the occupant can easily confirm by increasing the display time. Instead of setting the display time, or in parallel with setting the display time, the display control unit 17 operates the image I1 when a switch provided in the vehicle 101 or a touch panel of the image display means 7 is operated. , I2, I3 may be stopped.

Next, as shown in FIG. 8A, a case will be described in which the imaging means 4c mounted on the host vehicle 101 sets the front of the host vehicle 101 as the imaging range R3. It is assumed that another vehicle 102 preceding the host vehicle 101 suddenly stops while the host vehicle 101 is traveling. The sudden operation necessity determination unit 12 determines that the risk of contact between the own vehicle 101 and the other vehicle 102 is equal to or higher than a predetermined threshold. The control information calculation unit 13 calculates a right turn as a control direction for avoiding contact with the other vehicle 102, and calculates a steering torque amount of the steering means 6a as a control amount. The sudden movement identifying unit 15 identifies the occurrence of the sudden movement by determining that the control amount calculated by the control information calculating unit 13 is equal to or larger than a predetermined threshold value. The image generation unit 16 acquires the image pickup range at the time when the other vehicle 102 enters the image pickup range R3 of the image pickup unit 4c, and generates an image showing the surrounding situation including the other vehicle 102.

As shown in FIG. 8( b ), the vehicle control unit 14 automatically controls the steering means 6 a so as to avoid the other vehicle 102 and turns right, so that a sudden motion occurs. After the occurrence of the sudden operation, the display control unit 17 causes the image display unit 7 to display the image generated by the image generation unit 16.

For example, as shown in FIG. 9A, the image generation unit 16 acquires a captured image I4 indicating a surrounding situation including the other vehicle 102 ahead of the vehicle. The image generation unit 16 may further superimpose and highlight the frame-shaped mark M4 surrounding the other vehicle 102. As shown in FIG. 9B, the image generation unit 16 further displays a simulated vehicle M5 of the host vehicle 101, and superimposes a mark such as an arrow M6 indicating the control direction of the host vehicle 101 with the simulated vehicle M5 as a starting point. You may. As a result, the cause of the sudden motion and the control direction of the host vehicle 101 are displayed together, so that the occupant can easily understand the causal relationship between the cause of the sudden motion and the control result.

Next, as shown in FIG. 10, a case where a plurality of image pickup means 4a, 4b, 4c, 4d are mounted on the left side, right side, front side and rear side of the vehicle 101 will be described. When the occurrence of the sudden motion is identified by the sudden motion identifying unit 15, the image generating unit 16 performs coordinate conversion of the plurality of captured images by the plurality of imaging means 4a, 4b, 4c, 4d at the time when the sudden motion occurs. Then, the bird's-eye view image I5 as shown in FIG. 11 is generated.

In the overhead image I5, another vehicle 102, which is an obstacle causing the sudden movement, and a lane L0 separated by the lane boundary lines L1 and L2 are shown. The image generating unit 16 further superimposes and highlights a frame-shaped mark M7 surrounding the other vehicle 102, which is the obstacle causing the sudden motion. The image generation unit 16 further indicates the control direction of the host vehicle 101 by disposing the simulated vehicle M8 of the host vehicle 101 and displaying the arrow M9 starting from the simulated vehicle M8. According to the bird's-eye view image I5 shown in FIG. 11, the other vehicle 102 that is the obstacle causing the sudden motion and the control direction of the own vehicle 101 can be displayed in one image, and the sudden motion It is possible to make the occupant easily understand the causal relationship between the occurrence cause and the control result.

Next, an example of the vehicle display method according to the first embodiment of the present invention will be described with reference to the flowchart of FIG. The series of processes in the flowchart of FIG. 12 can be repeatedly executed at a predetermined control cycle.

In step S1, the obstacle detecting means 2 detects an obstacle existing around the host vehicle 101, and detects a distance, a relative position, and a relative speed between the host vehicle 101 and the obstacle. In step S2, the lane detecting means 3 detects the position of the lane around the host vehicle 101. In step S3, the in-lane position acquisition unit 11 determines the relative position in the lane of the obstacle from the relative position of the obstacle detected by the obstacle detection unit 2 and the position of the lane detected by the lane detection unit 3. Etc.

In step S4, the sudden movement necessity determination unit 12 determines the risk of contact between the host vehicle 101 and the obstacle based on the distance to the obstacle along the lane, the relative speed, and the like acquired by the in-lane position acquisition unit 11. To calculate. In step S5, the sudden movement necessity determination unit 12 determines whether or not the sudden movement of the host vehicle 101 is necessary to avoid the obstacle by determining whether the calculated contact risk is greater than or equal to a predetermined threshold. judge. When the contact risk is less than the predetermined threshold value and it is determined that the sudden movement of the host vehicle 101 is unnecessary, the processing is completed. On the other hand, when the contact risk is equal to or higher than the predetermined threshold value and it is determined that the host vehicle 101 needs to perform the sudden movement, the process proceeds to step S6.

In step S6, the control information calculation unit 13 outputs the control information including the control direction and the control amount for avoiding the contact with the obstacle whose contact risk is determined to be equal to or more than the predetermined threshold value by the sudden motion necessity determination unit 12. calculate. The vehicle control unit 14 uses the control information including the control direction and the control amount calculated by the control information calculation unit 13 to automatically control the steering means 6a and the like so as to avoid contact with an obstacle.

In step S7, the sudden movement identifying unit 15 determines whether or not the sudden movement has occurred by determining whether or not the control amount calculated by the control information calculating unit 13 is equal to or larger than a predetermined threshold value. When the control amount is less than the predetermined threshold value, it is determined that the sudden motion does not occur, and the process is completed. On the other hand, when the control amount is equal to or greater than the predetermined threshold value, it is determined that a sudden operation due to the system such as the vehicle control unit 14 or the like occurs at the present time or the timing before and after that, and the process proceeds to step S8.

In step S8, the image generation unit 16 captures images by the image capturing means 4a and 4b at the timing when the obstacle causing the sudden motion enters the image capturing ranges R1 and R2 based on the relative position to the obstacle. To generate an image showing the surrounding conditions including the cause of the sudden motion and the control direction of the host vehicle 100 at the time of the sudden motion. The obstacle causing the sudden motion is an obstacle whose contact risk is determined to be equal to or higher than a predetermined threshold in step S5, and is known. In step S9, the display control unit 17 causes the image display unit 7 to display the image generated by the image generation unit 16 continuously for a predetermined time after the occurrence of the sudden motion.

In addition, although the case where the sudden movement identifying unit 15 identifies the occurrence of the sudden movement using the control amount calculated by the control information calculating unit 13 in step S7 has been described, as shown in FIG. The sudden movement identifying unit 15 may determine in advance whether or not the sudden movement has occurred by determining whether or not the contact risk calculated by the sudden movement necessity determination unit 12 is equal to or more than a predetermined threshold. .. That is, the sudden movement identifying unit 15 may identify that the sudden movement occurs when the contact risk calculated by the sudden movement necessity determination unit 12 is equal to or more than a predetermined threshold.

As described above, according to the first embodiment of the present invention, it is determined whether the automatic control of the host vehicle is executed, and it is determined that the automatic control is executed. The images I1, I2, I4 and I5 showing the surrounding conditions including the cause of the automatic control based on the surrounding conditions are shown in FIG. Will be able to.

Furthermore, by determining that the automatic control will be executed when the automatic control is executed, even if it cannot be determined in advance that the automatic control will be executed, the timing of executing the automatic control After that, the images I1, I2, I4, I5 showing the surrounding conditions including the cause of the automatic control will be shown. As a result, the occupant can surely know the cause of the occurrence of the automatic control after the timing of executing the automatic control.

Further, by displaying the image on the image display means provided in the vehicle after executing the automatic control, the reason why the automatic control is generated by the occupant, that is, the cause of the automatic control is determined. Even if it cannot be understood, if the images I1, I2, I4, I5 are checked after executing the automatic control, the cause of the automatic control can be easily grasped afterwards. Therefore, the occupant can be given a sense of security regarding the automatic control of the system.

Further, by displaying the images I1, I2, I4, I5 showing the surrounding conditions including the cause of the sudden movement after the sudden movement caused by the automatic control of the vehicle by the system, the occupant can be Even if the reason why the sudden motion occurs, that is, the cause of the sudden motion cannot be understood, if the images I1, I2, I4, and I5 are confirmed after the sudden motion occurs, the cause of the sudden motion can be ex-posted. It can be easily grasped. Therefore, the occupant can be given a sense of security regarding the automatic control of the system.

Furthermore, images I3 to I5 including marks M1 to M3, M5, M6, M8, and M9 indicating the control direction of the vehicle 101 are displayed in addition to the surrounding situation including the obstacle that causes the sudden movement. As a result, the occupant can easily understand why the sudden motion has occurred, that is, the cause of the sudden motion and how to avoid contact with the sudden motion, that is, the control result.

Further, as marks M1 and M2 indicating the control direction of the host vehicle 101, a first simulated vehicle M1 and a second simulated vehicle M2 that simulate the host vehicle 101 are displayed so as to be superimposed on each other, and the first simulated vehicle M1 is displayed. By displacing and displaying the second simulated vehicle M2 in the direction corresponding to the control direction of the host vehicle 101 with reference to the position of, the control direction of the host vehicle 101 can be presented to the occupants in an easy-to-understand manner. ..

Furthermore, by calculating the control amount of the own vehicle 101 based on the surrounding situation of the own vehicle 101 and identifying the occurrence of the sudden motion when the control amount of the own vehicle 101 is equal to or more than a predetermined threshold, It is possible to accurately determine that a sudden motion occurs at a timing.

(Second embodiment)
As shown in FIG. 14, the vehicular display device according to the second embodiment of the present invention detects a yaw rate detecting means (yaw rate sensor) 21 for detecting a yaw rate of the host vehicle 101 and an acceleration of the host vehicle 101. The point that the acceleration detecting means (acceleration sensor) 22 is further provided is different from the configuration of the vehicular display device according to the first embodiment of the present invention shown in FIG.

The sudden motion identifying unit 15 identifies the occurrence of a sudden motion (a sudden turn) of the host vehicle 101 based on the yaw rate of the host vehicle 101 detected by the yaw rate sensor 21. For example, the sudden motion identifying unit 15 determines that the host vehicle 101 makes a sharp turn when the yaw rate rate of the host vehicle 101 is equal to or higher than a predetermined threshold value, and determines that the yaw rate rate of the host vehicle 101 is less than the predetermined threshold value. It is determined that no sharp turn was made. The sudden motion identifying unit 15 may identify the occurrence of a sudden turn by calculating the yaw acceleration or the yaw jerk from the yaw rate and comparing the yaw acceleration or the yaw jerk with a predetermined threshold. By using yaw acceleration or yaw jerk, high responsiveness can be obtained.

The sudden motion identifying unit 15 identifies the occurrence of a sudden motion (sudden acceleration/deceleration) of the host vehicle 101 based on the acceleration of the host vehicle 101 detected by the acceleration sensor 22. For example, the sudden motion identifying unit 15 determines that the own vehicle 101 has suddenly accelerated when the acceleration of the own vehicle 101 is equal to or more than a predetermined threshold value, and the sudden acceleration when the acceleration of the own vehicle 101 is less than the predetermined threshold value. It is determined that it did not. Further, the sudden motion identifying unit 15 determines that the vehicle 101 has rapidly decelerated when the acceleration of the vehicle 101 is less than a predetermined threshold, and determines that the vehicle 101 has not rapidly decelerated when the acceleration of the vehicle 101 is equal to or more than the predetermined threshold. To do. The sudden motion identifying unit 15 may identify the occurrence of sudden acceleration/deceleration by calculating jerk from the acceleration and comparing the jerk with a predetermined threshold value. By using jerk, high responsiveness can be obtained.

According to the second embodiment of the present invention, similarly to the first embodiment of the present invention, after the occurrence of the sudden motion caused by the automatic control such as the emergency avoidance by the system, the cause of the sudden motion is generated. By displaying the surrounding conditions including the obstacle, the sudden movement occurs even when the occupant cannot understand why the sudden movement occurs, that is, when the cause of the sudden movement cannot be understood. If the image is checked later, the cause of the sudden motion can be easily grasped ex post facto. Therefore, the occupant can be given a sense of security regarding the automatic control of the system.

Further, the sudden motion identifying unit 15 identifies the occurrence of a sudden motion (a sudden turn) based on the yaw rate of the host vehicle 101 detected by the yaw rate sensor 21, so that the occupant can instantly recognize that the sudden turn is made. Even if you cannot grasp the situation, you can confirm the turning afterwards. Further, the occurrence of a sudden motion (rapid acceleration/deceleration) is identified based on the acceleration of the host vehicle 101 detected by the acceleration sensor 22, so that the occupant cannot instantaneously grasp the rapid acceleration/deceleration of the vehicle. Even after that, you can check the sudden acceleration/deceleration afterwards.

(Other embodiments)
As described above, the present invention has been described by the first and second embodiments, but it should not be understood that the description and drawings forming a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples, and operation techniques will be apparent to those skilled in the art.

Further, although the display control unit 17 has mainly described the case where an image is started to be displayed after the occurrence of a sudden motion, an arbitrary image is displayed on the image display means 7 during normal traveling. If an abrupt motion occurs, the image displayed on the image display unit 7 may be switched so that the image generated by the image generation unit 16 is displayed after the abrupt motion occurs. The arbitrary images include, for example, an image of route guidance by the car navigation system and an image showing the current surroundings of the vehicle 101. Further, the display control unit 17 may display the image displayed during normal traveling together with the image generated by the image generation unit 16 when a sudden motion occurs. In this case, the cause of the sudden motion can be grasped at the same time while confirming the current surrounding situation. If the timing of identifying the sudden motion is before the occurrence of the sudden motion, the timing at which the display of the image including the cause of the sudden motion is started may be anywhere, or may be the timing at which the sudden motion is identified (predicted). Further, the image including the cause of occurrence may be displayed even during the sudden motion.

Further, as images during normal traveling, as shown in FIG. 15, an image I1 showing the situation of the left rear by the image pickup means 4a, an image I2 showing the situation of the right rear by the image pickup means 4b, and an image showing the control direction of the own vehicle. I3 may be sequentially displayed. The image I3 showing the control direction of the host vehicle 101 displays the simulated vehicles M1 and M2 and the contact risk display area M10. When the occurrence of the sudden motion is identified, the image generation unit 16 may blink the contact risk display area M10. Further, the color in the front-rear direction of the contact risk display area M10 may be changed according to the vehicle speed limit of the vehicle. Further, when the sudden motion necessity determination unit 12 determines that the contact risk is high, the image generation unit 16 highlights the second simulated vehicle M2 so that the color and the brightness of the second simulated vehicle M2 are highlighted. May be changed. As a result, before the sudden movement occurs, the occupant can easily understand the sudden movement occurring and the predicted control direction of the own vehicle 101.

Further, as the image to be displayed on the image display means 7 after the occurrence of the sudden motion, the image I3 showing the control direction of the own vehicle 101 is not displayed, but the captured image I1 in the left rear situation shown in FIG. Only the right rear captured image I2 shown in FIG. 5B may be displayed adjacent to the image display means 7 as shown in FIG. Further, as the image to be displayed on the image display means 7 after the occurrence of the sudden movement, only one of the causes of the left rear imaged image I2 and the right rear imaged image I3 may be displayed.

Further, the image generation unit 16 may generate a computer graphics (CG) image instead of using the images captured by the image capturing means 4a and 4b. The CG image can be generated based on the relative position and distance to the obstacle detected by the obstacle detection unit 2, the relative position of the lane detected by the lane detection unit 3, and the like. For example, the captured image I1 in the situation of the rear left shown in FIG. 5(a), the captured image I2 in the rear right of FIG. 5(b), and the captured image I2 in the front of FIG. 9(a) and FIG. 9(b). It is possible to generate a CG image corresponding to the captured image I4 of the situation and the bird's-eye view image I5 shown in FIG.

For example, even when it is difficult to image an obstacle, the occupant can be made aware of the cause of the sudden motion by generating the CG image. Further, it may be determined whether or not the obstacle can be picked up by the image pickup means 4a, 4b and the like, the picked-up image is adopted when it is decided that the image pickup is possible, and the CG image is adopted when it is decided that the image pickup is impossible.

Further, the image generation unit 16 may generate a moving image for a predetermined time as an image indicating the surrounding situation including the cause of the sudden motion, instead of generating a still image. It suffices if the obstacle causing the sudden motion is reflected in part of the time axis of the moving image. By displaying the moving image, it is possible for the occupant to easily grasp the changes in the surrounding conditions before and after the occurrence of the sudden motion. Further, the display control unit 17 may display the moving image on the image display unit 7 only once, or may display it repeatedly a plurality of times. Further, the display control unit 17 may display the moving image in slow motion instead of displaying it in the actual imaging time.

As described above, it goes without saying that the present invention includes various embodiments and the like not described here. Therefore, the technical scope of the present invention is defined only by the matters specifying the invention according to the scope of claims reasonable from the above description.

DESCRIPTION OF SYMBOLS 1... Control device 2... Obstacle detecting means 3... Lane detecting means 4a, 4b, 4c, 4d... Camera 6a... Steering means 6b... Accelerating means 6c... Braking means 7... Image display means 10... Ambient condition detecting means 11... Lane Inner position acquisition unit 12... Sudden motion necessity determination unit 13... Control information calculation unit 14... Vehicle control unit 15... Sudden motion identification unit 16... Image generation unit 17... Display control unit 21... Yaw rate sensor 22... Acceleration sensor 101... Vehicle 102... Other vehicle

Claims (11)

Detecting the surroundings of the vehicle,
A step of determining whether or not the automatic control of the host vehicle is executed according to the surrounding situation;
When it is determined that the automatic control is executed, a step of generating an image showing an ambient condition including a cause of the automatic control based on the ambient condition,
Look including the step of displaying the image on the image display means provided in said vehicle,
The step of determining whether or not the automatic control is executed includes identifying occurrence of a sudden motion of the host vehicle based on a control amount of the automatic control,
The vehicle displaying method , wherein the step of displaying the image includes increasing the display time of the image as the control amount increases . The step of determining whether or not the automatic control is executed includes
The vehicle display according to claim 1, further comprising: determining that the automatic control is executed when the automatic control of the own vehicle is executed according to the surrounding situation. Method. The step of displaying the image includes
The vehicle display method according to claim 1 or 2, further comprising: displaying the image on an image display unit provided in the own vehicle after executing the automatic control. The step of generating the image comprises:
When the occurrence of the sudden motion is identified, it includes generating an image showing a surrounding condition including a cause of the occurrence of the automatic control based on the surrounding condition. The display method for a vehicle according to item 1. The step of generating the image comprises:
The vehicle according to any one of claims 1 to 4, further comprising: displaying a mark indicating a control direction of the own vehicle when the automatic control is executed in the image. Display method. The step of generating the image comprises:
In the image, the first and second simulated vehicles respectively simulating the own vehicle are displayed as the marks,
The vehicle display method according to claim 5, further comprising: shifting the position of the second simulated vehicle in a direction corresponding to the control direction with reference to the position of the first simulated vehicle. Further comprising the step of detecting the acceleration of the vehicle,
It identifies the occurrence of the abrupt operation,
The vehicle display method according to any one of claims 1 to 6 , further comprising: identifying occurrence of the sudden motion based on the detected acceleration. Further comprising the step of detecting the yaw rate of the host vehicle,
It identifies the occurrence of the abrupt operation,
The vehicle display method according to any one of claims 1 to 7 , further comprising identifying occurrence of the sudden motion based on the detected yaw rate. Identifying whether a sudden movement of the host vehicle is required;
If it is determined that the sudden motion is required, an image including the first and second simulated vehicles that simulate the own vehicle is displayed on the image display means before the occurrence of the sudden motion, and with reference to the position of one of the simulated vehicle, any of the preceding claims, wherein the further comprising the step of shifting in a direction corresponding to the direction in which the second simulated vehicle avoiding the highlighted while the contact The display method for a vehicle according to item 1 . The step of detecting the surrounding situation includes
Capturing the ambient condition and storing the captured image in a storage device,
The step of generating the image comprises:
After the occurrence of the sudden operation, a captured image when the cause of the occurrence is in the imaging range is extracted from the stored captured images, and the cause of the automatic control is generated based on the extracted captured image. Including generating an image showing the surrounding situation including
The display method for a vehicle according to any one of claims 1 to 9, characterized in that. Surrounding condition detection means for detecting the surrounding condition of the own vehicle,
Depending on the surrounding conditions, an automatic control determination unit that determines whether the automatic control of the own vehicle is executed,
When it is determined that the automatic control is executed, an image generation unit that generates an image showing an ambient condition including a cause of the automatic control based on the ambient condition,
An image display unit that is provided in the own vehicle and displays the image ;
The automatic control determination unit identifies the occurrence of a sudden motion of the own vehicle based on the control amount of the automatic control,
The vehicle display device, wherein the image display means lengthens the display time of the image as the control amount increases .

Images